Global stabilization of an underactuated autonomous underwater vehicle via logic-based switching

• Type: Article in International Conference Proceedings Book
• Date: 2002

Authors

Aguiar, AP (Author) Other; Pascoal, AM (Author) Other

Conference proceedings International

Title: PROCEEDINGS OF THE 41ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4

Pages: 3267-3272

41st IEEE Conference on Decision and Control

LAS VEGAS, NV, DEC 10-13, 2002

Indexing

ISI Web of Knowledge - 14 Citations

Scopus - 24 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-000-RVK

Abstract (EN): This paper considers the problem of global stabilization of an underactuated autonomous underwater vehicle (AUV) to a point, with a desired orientation. Controllability and stabilizability properties of the vehicle model are discussed and a logic-based hybrid controller is proposed that yields global convergence of the AUV to an arbitrarily small neighborhood of the target point. Convergence and stability of the closed loop system are analyzed. To illustrate the control law developed, simulation results are presented using the model of the Sirene AUV.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6